Vehicle parking assist system

Patent metadata

Field	Value
Publication number	US-10479332-B2
Application number	US-201715813214-A
Country	US
Kind code	B2
Filing date	Nov 15, 2017
Priority date	Jul 31, 2015
Publication date	Nov 19, 2019
Grant date	Nov 19, 2019

Abstract

A method for assisting in parking a vehicle, comprises the steps of: initiating a parking sequence having a reference velocity; altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller; outputting the brake torque to a disturbance estimator; storing the brake torque within the disturbance estimator; and utilizing the brake torque from the disturbance estimator in a second mode of operation of the controller to stop the vehicle at a target location.

First claim

What is claimed is:

1. A method for assisting in parking a vehicle, comprising the steps of:
initiating a parking sequence having a reference velocity;
altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller;
outputting the brake torque to a disturbance estimator;
storing the brake torque within the disturbance estimator; and
utilizing the brake torque from the disturbance estimator in a second mode of operation of the controller to stop the vehicle at a target location.

2. The method of claim 1 , further comprising the step of:
transitioning the controller from the first mode to the second mode once the vehicle crosses a threshold distance from the target location.

3. The method of claim 2 , wherein the controller operates in a proportional-integral control during the first mode of operation and in a proportional-derivative control during the second mode of operation.

4. The method of claim 3 , wherein the controller operates on a velocity error signal in the first mode of operation and a distance error signal in the second mode of operation.

5. The method of claim 4 , wherein the vehicle is stopped at the target location with essentially no overshoot.

6. The method of claim 5 , wherein the controller operates on a distance error signal in the second mode of operation.

7. A method for assisting in parking a vehicle, comprising the steps of:
initiating a parking sequence having a reference velocity;
altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller;
outputting the brake torque to a disturbance estimator; and
utilizing the brake torque in a second mode of operation of the controller to stop the vehicle at a target location.

8. The method of claim 7 , wherein the second mode of the controller is operated in a proportional-derivative control based on a distance error signal.

9. The method of claim 7 , further comprising the step of:
storing the brake torque within the disturbance estimator.

10. The method of claim 7 , further comprising the step of:
transitioning the controller from the first mode to the second mode once the vehicle crosses a threshold distance from the target location.

11. The method of claim 10 , wherein the control module is configured to operate in the first mode, the second mode and a third mode.

12. The method of claim 7 , wherein the first mode is operated in a proportional-integral control based on a velocity error signal.

13. The method of claim 12 , wherein the second mode of the control module is configured to be operated in a proportional-derivative control based on a distance error signal.

14. The method of claim 7 , wherein the controller operates on a velocity error signal in the first mode of operation and a distance error signal in the second mode of operation.

15. A method for assisting in parking a vehicle, comprising the steps of:
initiating a parking sequence having a reference velocity;
altering a velocity of the vehicle to about the reference velocity by generating a brake torque during a first mode of operation of a controller; and
utilizing the brake torque in a second mode of operation of the controller to stop the vehicle at a target location.

16. The method of claim 15 , further comprising the step of:
outputting the brake torque to a disturbance estimator.

17. The method of claim 16 , further comprising the step of:
storing the brake torque within the disturbance estimator.

18. The method of claim 14 , further comprising the step of:
transitioning the controller from the first mode to the second mode once the vehicle crosses a threshold distance from the target location.

19. The method of claim 18 , wherein the controller operates in a proportional-integral control during the first mode of operation and in a proportional-derivative control during the second mode of operation.

20. The method of claim 19 , wherein the controller operates on a velocity error signal in the first mode of operation and a distance error signal in the second mode of operation.

Assignees

• Ford Global Tech Llc

Inventors

• Bales John
• Hafner Michael

Classifications

• B60T8/1708

  for lorries or tractor-trailer combinations · CPC title

• B60T2201/022

  Collision avoidance systems · CPC title

• B60T2201/10

  Automatic or semi-automatic parking aid systems · CPC title

• B60T7/22 Primary

  initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} · CPC title